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Alternative TitleTechnique and Implementation of Underwater Vehicle Station Keeping Based on Monocular Vision
郝颖明; 吴清潇; 周船; 李硕; 朱枫
Source Publication机器人
Indexed ByEI ; CSCD
EI Accession number20070310373293
Contribution Rank1
Funding Organization国家863计划资助项目(2002AA401001-4A)
Keyword水下机器人 视觉悬停 视觉伺服 视觉定位 单目视觉
Other AbstractAccording to the application background of the 7000m manned underwater vehicle and with monocular CCD cameras as sensors,two visual station keeping methods for underwater vehicle are proposed,i.e.the model-based monocular vision positioning for the target when model is known,and the feature-based visual servoing for the target when model is unknown.Based on the experiment platform of underwater vehicle control system made by ourselves,an underwater demonstration experiment system is developed with forward-looking cameras and man-made targets.Underwater demonstration experiments with the two station keeping methods are made in an indoor experimental pool.It is demonstrated that the vehicle can achieve station keeping under the closed loop control of the two proposed methods in the presence of man-made abrupt disturbances and current disturbances.
Citation statistics
Document Type期刊论文
Corresponding Author郝颖明
Recommended Citation
GB/T 7714
郝颖明,吴清潇,周船,等. 基于单目视觉的水下机器人悬停定位技术与实现[J]. 机器人,2006,28(6):656-661.
APA 郝颖明,吴清潇,周船,李硕,&朱枫.(2006).基于单目视觉的水下机器人悬停定位技术与实现.机器人,28(6),656-661.
MLA 郝颖明,et al."基于单目视觉的水下机器人悬停定位技术与实现".机器人 28.6(2006):656-661.
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